A two-dimensional optoelectronic turntable system architecture design optimization method

Abstract

The present invention provides a method for optimizing the architecture design of a two-dimensional optoelectronic turntable system, belonging to the field of optoelectronic turntable testing technology. The method comprises the following steps: Step 1: Using the SysML modeling language and combining it with the ROFLP methodology, a multi-level modeling of the two-dimensional optoelectronic turntable system is performed, including requirements modeling, operation modeling, functional modeling, logical modeling, and physical modeling; Step 2: Converting the SysML model into executable state machine simulation code and indicator verification scripts through mapping rules; Step 3: Verifying the system's dynamic behavior and static indicators using state machine simulation and indicator verification to optimize the system architecture design. The present invention solves the technical problems in the existing optoelectronic turntable design field, such as the lack of unified semantics, scattered resources, and low efficiency of top-level system design solutions.

Description

Technical Field

[0001] The present invention relates to the technical field of optoelectronic turntable optimization engineering, and in particular to a two-dimensional optoelectronic turntable system architecture design optimization method. Background Art

[0002] The optoelectronic turntable is a high-precision device that integrates optical, mechanical, and electronic technologies and is widely used in both military and civilian applications. In the military, it can be used for reconnaissance and surveillance, target positioning and guidance, border and coastal defense monitoring, and other applications. It can integrate multiple sensors, including infrared thermal imagers, visible light cameras, and laser rangefinders, to detect, identify, and track targets day or night.

[0003] In the civilian field, it is also commonly used in security monitoring, industrial testing, scientific research, emergency rescue and traffic management.

[0004] Technological progress and innovation in the field of optoelectronic turntables are of great significance for improving my country's military reconnaissance and combat effectiveness, enhancing public security capabilities, and promoting social and economic development. With increasing requirements for turntable load, accuracy, speed, and visual recognition, the development of optoelectronic turntables has become increasingly complex, becoming a systems engineering project integrating advanced multidisciplinary technologies.

[0005] The traditional means of managing project resources by documenting requirements and technical indicators is becoming increasingly inadequate. In addition, the scattered development methods of traditional development links such as requirements analysis, design, simulation, and evaluation lack unified coordination and are delayed in responding to changes in requirements.

[0006] Model-based systems engineering is increasingly playing a vital role in the development of complex products. By supporting design, analysis, verification, and optimization throughout the entire product development lifecycle, models can significantly improve project development efficiency, better consolidate project resources, and closely connect all development phases. However, existing top-level system design solutions for optoelectronic turntables suffer from unstructured semantics, fragmented resources, and low efficiency. Summary of the Invention

[0007] The purpose of the present invention is to provide a two-dimensional optoelectronic turntable system architecture design optimization method to solve the problems of inconsistent semantics, scattered resources and low efficiency in the existing optoelectronic turntable design field.

[0008] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0009] A two-dimensional optoelectronic turntable system architecture design optimization method includes the following steps:

[0010] Step 1: Using SysML modeling language and combining ROFLP methodology, perform multi-level modeling of the 2D optoelectronic turntable system, including requirements modeling, operation modeling, function modeling, logic modeling, and physical modeling;

[0011] Step 2: Convert the SysML model into executable state machine simulation code and indicator verification script through mapping rules;

[0012] Step 3: Use state machine simulation and indicator verification to verify the system dynamic behavior and static indicators and optimize the system architecture design.

[0013] Furthermore, the requirement modeling includes extracting the requirements of the optoelectronic turntable system, establishing a SysML requirement form model, defining the requirements of each level of the system, building a requirement hierarchy tree, clarifying core performance indicators, and managing the correlation between requirements and subsequent development elements through a requirement traceability matrix.

[0014] Furthermore, the operation modeling includes defining the core scenarios of the system through use case diagrams, and simulating the interaction process between the system and the external environment using activity diagrams to ensure that the operation model covers all demand scenarios.

[0015] Furthermore, the functional modeling includes converting requirements into basic functions of the system through module definition diagrams, and refining functional chains through activity diagrams to describe the collaborative relationships between functional modules within the system.

[0016] Furthermore, the logic modeling includes dividing the system into subsystem modules, defining key interface protocols, depicting the system's state transition logic through a state machine diagram, and converting the state machine diagram into executable state machine simulation code for dynamic behavior verification.

[0017] Furthermore, the physical modeling is to construct a physical decomposition structure of the system based on the logical component mapping relationship, generate a BOM table, and realize two-way traceability between requirement items and physical components through an element traceability form.

[0018] Furthermore, the state machine simulation code verifies the feasibility of the system's state triggering and switching logic design through 3D visual simulation.

[0019] Furthermore, the indicator verification script performs formal constraints and satisfaction analysis on the core parameters of the system based on the satisfiability module theory to verify the rationality of the indicators of the system design.

[0020] In addition, the present invention also discloses a two-dimensional photoelectric turntable system architecture design optimization system, which is characterized by comprising:

[0021] A modeling module for multi-level modeling of a two-dimensional optoelectronic turntable system using the SysML modeling language and the ROFLP methodology;

[0022] A code conversion module, used to convert the SysML model into executable state machine simulation code and indicator verification script;

[0023] A simulation verification module is used to verify the system dynamic behavior and static indicators through state machine simulation and indicator verification, and optimize the system architecture design.

[0024] Furthermore, the simulation verification module includes a 3D visualization simulation unit for intuitively displaying the state triggering and switching logic of the system.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] This invention addresses the lack of a standardized methodology in the development of existing optoelectronic turntables by introducing a semantically unified SysML model as an information source. Traditionally, each department has operated independently, lacking a unified guidance framework, resulting in low development efficiency. This invention, relying on standardized and normalized SysML models, provides clear guidance throughout the development process, ensuring efficient collaboration across departments and significantly improving development efficiency.

[0027] In existing technologies, the lack of an authoritative source of top-level concepts can easily lead to misunderstandings between different departments, hindering the efficiency of collaborative work. This invention, by adopting the SysML model as a unified information source, provides an authoritative top-level conceptual framework for the entire development process. This unified semantic description eliminates misunderstandings between departments, ensures the accuracy and consistency of information transmission, and significantly improves the efficiency and quality of collaborative work.

[0028] In the existing optoelectronic turntable development process, resources are dispersed and difficult to centrally manage, resulting in low resource utilization. This invention achieves centralized resource management and efficient utilization by designing a metamodel and model library for optoelectronic turntables based on the SysML domain-specific modeling language. This centralized management approach not only improves resource utilization but also reduces management costs associated with decentralized resources, providing more efficient support for the entire development process.

[0029] This invention combines static structural evaluation with dynamic simulation analysis, overcoming the limitations of traditional methods that focus solely on system structure. This method not only evaluates the system's static structure but also comprehensively considers the system's functional behavior and dynamic characteristics by converting the system's dynamic model into executable state machine simulation code for simulation analysis. This combined static and dynamic evaluation method more accurately reflects the actual performance of the optoelectronic turntable system, providing a more comprehensive basis for verifying and optimizing the rationality of the design solution.

[0030] The modeling method provided by this invention is highly operational and targeted. It can effectively abstract the characteristics of the top-level system to support the rationality analysis of the design solution. During the modeling process, this invention introduces modeling templates, standardized modeling processes, and domain-specific metamodel libraries, making the modeling process simpler and easier to implement, with a low barrier to entry. This efficient and standardized modeling method not only improves work efficiency but also ensures modeling quality, providing strong support for all aspects of system design. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 This is a flow chart of the system architecture design method of the present invention.

[0033] Figure 2 It is a flow chart of the logical phase activities of the present invention.

[0034] Figure 3 An optimization process is designed for the turntable system of the present invention. DETAILED DESCRIPTION

[0035] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the embodiments of the present invention. Therefore, the drawings and description are to be regarded as illustrative in nature and not restrictive. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0036] Example 1:

[0037] This embodiment discloses a method for optimizing the design of a two-dimensional optoelectronic turntable system architecture, comprising the following steps:

[0038] Step 1: Using SysML modeling language and combining ROFLP methodology, perform multi-level modeling of the 2D optoelectronic turntable system, including requirements modeling, operation modeling, function modeling, logic modeling, and physical modeling;

[0039] Step 2: Convert the SysML model into executable state machine simulation code and indicator verification script through mapping rules;

[0040] Step 3: Use state machine simulation and indicator verification to verify the system dynamic behavior and static indicators and optimize the system architecture design.

[0041] Furthermore, in this embodiment, the requirement modeling includes extracting the requirements of the optoelectronic turntable system, establishing a SysML requirement form model, defining the requirements of each level of the system, constructing a requirement hierarchy tree, clarifying core performance indicators, and managing the correlation between requirements and subsequent development elements through a requirement traceability matrix.

[0042] Furthermore, in this embodiment, the operation modeling includes defining the core scenarios of the system through use case diagrams, and simulating the interaction process between the system and the external environment using activity diagrams to ensure that the operation model covers all required scenarios.

[0043] Furthermore, in this embodiment, the functional modeling includes converting requirements into basic functions of the system through a module definition diagram, and refining the functional chain through an activity diagram to describe the collaborative relationship between functional modules within the system.

[0044] Furthermore, in this embodiment, the logical modeling includes dividing the system into subsystem modules, defining key interface protocols, depicting the state transition logic of the system through a state machine diagram, and converting the state machine diagram into executable state machine simulation code for dynamic behavior verification.

[0045] Furthermore, in this embodiment, the physical modeling is to construct a physical decomposition structure of the system based on the logical component mapping relationship, generate a BOM table, and realize bidirectional traceability between requirement items and physical components through an element traceability form.

[0046] Furthermore, in this embodiment, the state machine simulation code verifies the feasibility of the system's state triggering and switching logic design through 3D visual simulation.

[0047] Furthermore, in this embodiment, the indicator verification script performs formulaic constraints and satisfiability analysis on the core parameters of the system based on the satisfiability module theory to verify the rationality of the indicators of the system design.

[0048] This embodiment also discloses a two-dimensional optoelectronic turntable system architecture design optimization system, including:

[0049] A modeling module for multi-level modeling of a two-dimensional optoelectronic turntable system using the SysML modeling language and the ROFLP methodology;

[0050] A code conversion module, used to convert the SysML model into executable state machine simulation code and indicator verification script;

[0051] A simulation verification module is used to verify the system dynamic behavior and static indicators through state machine simulation and indicator verification, and optimize the system architecture design.

[0052] The simulation verification module includes a 3D visualization simulation unit for intuitively displaying the state triggering and switching logic of the system.

[0053] The present invention models and analyzes the top-level architecture design stage of a two-dimensional optoelectronic turntable. First, in the requirement design stage, the requirements of the optoelectronic turntable stakeholders are extracted, including system requirements, system performance indicators, domain terminology requirements, etc., and the requirement diagram in SYSML is used to express the above heterogeneous requirements and indicators in an itemized manner.

[0054] During the system analysis and design phase, the formal expression of requirements, tasks, functions, logic and physics (ROFLP) is implemented based on the multi-architecture modeling methodology proposed in this invention, and the code mapping rules are called in the model to generate corresponding executable indicator verification scripts and executable state machine simulation codes.

[0055] During the system verification phase, hybrid state machine simulation technology is used to verify the system's dynamic behavior, and the rationality of the system design indicators is verified based on the satisfiability model theory.

[0056] Designers in the optoelectronic turntable field can utilize the proposed method. First, using the SysML modeling language and the ROFLP methodology proposed in this invention, they model the optoelectronic turntable system architecture. Then, using mapping rule code, they convert the model into executable state machine simulation and indicator verification code. The dynamic logic behavior of the state machine and the static indicator calculation results are used to analyze the rationality of the optoelectronic turntable system's top-level architecture design. Through a global system analysis, the system's behavioral switching process and various indicator characteristics under different states are verified. Ultimately, the system design is refined to achieve a one-to-one mapping from design requirements to functional implementation. This process reduces errors in the optoelectronic turntable top-level system design and prevents early errors from being carried over into later stages, leading to further losses. Using the models communicated across the methodology's business chain as the language of communication across disciplines avoids ambiguity and improves collaboration and communication efficiency across departments. Furthermore, by writing code mapping rules, existing models can be quickly converted into executable code, reducing the difficulty of simulation code programming. Finally, this provides a rich meta-model library for SysML, a domain-specific modeling language established in the optoelectronic turntable design field. This extensible model library can continue to serve as a digital asset to facilitate subsequent product iterations and upgrades.

[0057] Furthermore, in actual use, the requirements of the optoelectronic turntable system were extracted using the SysML Requirement Diagram, a SysML requirement form model was established, requirements at each level of the system were defined, a requirement hierarchy tree was constructed, core performance indicators (such as two-degree-of-freedom range of motion, angular positioning accuracy ≤ 0.01°, three-loop control mode, etc.) were clarified, and the relevance of requirements to subsequent development elements was managed through a requirement traceability matrix. The specific steps included:

[0058] 1. Define system-level requirements (SR) and subsystem requirements (SSR);

[0059] 2. Use SysML requirement diagram to establish a requirement hierarchy tree and clarify the hierarchical relationship of each requirement;

[0060] 3. Manage the correlation between requirements and subsequent development elements through the requirements traceability matrix.

[0061] State machine simulation code generation: The SysML state machine diagram is converted into executable state machine simulation code through mapping rules. Specific mapping rules include:

[0062] 1. Map the state nodes in the SysML state machine diagram to the state classes in the code;

[0063] 2. Map the state transition conditions to conditional statements in the code;

[0064] 3. Map state transition actions to function calls in the code and verify the feasibility of the system's state triggering and switching logic design through 3D visual simulation. The specific steps include:

[0065] 4. Map the generated state machine simulation code to the component ID of the 3D visualization module;

[0066] 5. Demonstrate the system’s state triggering and switching logic through 3D visual simulation.

[0067] In order to facilitate those skilled in the art to further understand the present invention, the present invention is further described below with reference to specific implementation cases.

[0068] The present invention mainly addresses the issues of system architecture design, analysis, and verification of a two-dimensional optoelectronic turntable. It adopts a model-based forward development method, follows the hierarchical order of the ROFLP methodology, and uses nine types of SysML views to draw an architecture model, thereby concretely expressing the system architecture design scheme of the two-dimensional optoelectronic turntable. Part of the model is converted into indicator verification code and executable state machine simulation code to perform simulation evaluation of dynamic and static indicators. The architecture design of the optoelectronic turntable is optimized according to the simulation results, and the product requirement list is quickly responded to.

[0069] The following implementation work will be carried out using the overall design plan of a certain type of two-dimensional optoelectronic turntable system as an example.

[0070] See Figure 1 The specific steps are as follows:

[0071] 1. Modeling in the requirements phase: define system-level requirements (SR) and subsystem requirements (SSR) to establish a requirements hierarchy tree;

[0072] Specific requirements include:

[0073] 1. Two-degree-of-freedom motion range: azimuth axis ±180°, pitch axis -30°~+90°;

[0074] 2. Angular positioning accuracy ≤ 0.01°;

[0075] 3. Three-loop control mode: position loop, velocity loop, and current loop. Use SysML requirement diagrams to establish a requirements hierarchy tree, clarify the hierarchical relationships between requirements, and manage the relevance of requirements to subsequent development elements through a requirements traceability matrix.

[0076] List the requirements of this type of two-dimensional optoelectronic turntable system, establish a SysML requirement form model based on the list, define the requirements of each level of the system, establish a requirement hierarchy tree, clarify the core performance indicators (such as two-degree-of-freedom motion range, angular positioning accuracy ≤ 0.01°, three-loop control mode, etc.), describe the hierarchical relationship of each requirement, confirm whether there are contradictions in the requirements and the importance of each requirement, as well as the completeness of the requirements; in addition, you can build a requirement tree and establish a traceability matrix to achieve the correlation management of requirements and subsequent development elements to verify the consistency of requirements.

[0077] 2. Operational phase modeling: Use case diagrams define key scenarios, and activity diagrams describe the interaction process between the system and the external environment;

[0078] During the operational modeling phase, use case diagrams are used to define core scenarios such as target tracking, manual attitude adjustment, and system calibration. The interactions between the operator, controller, and image sensor are described through information extension and association within the use case diagrams. Activity diagrams are used to simulate normal operation and exception handling processes such as real-time target tracking, target loss and recapture, and overload protection. The modeling abstraction level is expressed from a system-level black box perspective (not involving internal implementation), allowing for a visual description of the interaction between the system and the external environment, focusing on user operations, system responses, and external event handling. This ensures that the operational model covers all required scenarios.

[0079] 3. Functional stage modeling: define composite functions and subdivided functions, and describe the collaborative relationship between functional modules within the system through activity diagrams;

[0080] During the functional modeling phase, a hierarchical decomposition strategy was employed. Block Definition Diagrams (BDDs) were used to translate the capabilities required by stakeholders during the requirements phase into the system's basic functions. These basic functions were then aggregated into the system's composite functions. Activity diagrams were used to detail the functional chain implementing the optoelectronic turntable's core functions, such as "command parsing, motion planning, and closed-loop control." The collaborative relationships within the system's functional modules were also described. Lane divisions were used to embed each action into a subsystem-level white-box perspective (exposing internal processing details). Modeling focused on functional decomposition, data flow, and control logic implementation. Data flows and module interfaces were used to characterize the data flow and data types within functional activities.

[0081] 4. Logical stage modeling: internal block diagrams show component interfaces, and state machine diagrams define the operation process;

[0082] During the logical architecture design phase, the two-dimensional optoelectronic turntable system was divided into subsystem modules, including motion control, communication interfaces, and sensor processing. Key interface protocols, such as CAN bus communication and the SSI encoder interface, were defined in the internal block diagram (IBD), showcasing component interfaces. State machine diagrams were used to depict the system's multi-mode state transition logic, such as "idle-tracking-fault." The existing model was quickly converted into executable state machine simulation code using corresponding code mapping rules. The module IDs in the code were mapped to the component IDs of the 3D visualization module. Clear and intuitive 3D visualization of the state machine simulation verified the feasibility of each state triggering and switching logic design, thus verifying the dynamic behavior of the optoelectronic turntable system.

[0083] 5. Physical stage modeling: define internal components and parameter diagrams to define constraint equations;

[0084] During the physical implementation phase, based on the logical component mapping relationship, the module definition diagram is used to construct the physical decomposition structures of the azimuth axis system (including harmonic reducer and crossed roller bearings), pitch axis system (direct drive motor and angular contact bearings), control system (NIcRIO controller and Elmo actuator), and optical payload (visible light / infrared sensor). Based on the MBSE tool, a bill of materials (BOM) containing model, quantity, and supplier can be generated. Ultimately, bidirectional traceability from requirement items (such as R002 angular accuracy requirements) to physical components (such as HEIDENHAIN encoders) can be achieved through the element traceability form.

[0085] Furthermore, the code calls the turntable parameters in the module definition diagram to perform formal constraints and satisfaction analysis on core parameters such as shaft clearance, motor output torque, and resonant frequency. Based on the satisfiability model theory, the rationality of the system design indicators is verified, thereby verifying the physical feasibility of the logical architecture. This forms a system engineering optoelectronic turntable development process control system with a "standardized model drive - model conversion code verification - requirement retrospective analysis closed loop" to ensure that the optoelectronic turntable system designed using this model-driven approach meets the comprehensive performance requirements of dynamic accuracy, mode switching, and reliable operation.

[0086] The present invention will be further described below with reference to another specific implementation case.

[0087] Example 2

[0088] This paper examines the top-level design of a two-dimensional optoelectronic turntable system, encompassing requirements analysis, operational modeling, functional decomposition, control logic, and physical components. The proposed ROFLP hierarchical parsing methodology and the SysML modeling language, which unifies underlying semantics, are used to establish an architectural model. Using the implementation of physical parameter constraints for moment of inertia, resonant frequency, and axial clearance, as well as the control system's automatic target tracking mode, as an example, the closed-loop development process from system architecture model to system simulation model, including modeling, simulation, and verification, is described.

[0089] (1) Demand model:

[0090] (1.1) Demand diagram:

[0091] After sorting out, the demand model items in this embodiment are described as follows:

[0092] fr2D optoelectronic turntable design system requirements;

[0093] fr-001 size: Ø300mm×800mm;

[0094] fr-002 achieves the key characteristic indicators of ±180° continuous rotation of the azimuth axis (accuracy ≤ 0.01°);

[0095] fr-003 pitch axis motion range -30°~+90° (speed resolution 0.1° / s);

[0096] fr-004 dual-axis synchronous control dynamic error <0.05°;

[0097] fr-005 position accuracy: ≤0.01° (static);

[0098] fr-006 speed range: 0.1° / s~60° / s, acceleration ≥30° / s²;

[0099] fr-007 has position tracking function, and each rotating frame can provide precise position servo at the same time;

[0100] fr-008 has manual control and automatic control functions;

[0101] fr-009 has the function of switching between local emergency stop and remote emergency stop;

[0102] fr-010 can monitor its own status and display;

[0103] fr-011 has self-checking and calibration function;

[0104] fr-012 supports stable control of optoelectronic payloads (such as cameras and lasers) with a maximum load of 80kg;

[0105] Non-functional requirements for nfr two-dimensional optoelectronic turntable design;

[0106] nfr-001 environmental adaptability (-40℃~+70℃ working);

[0107] nfr-002MTBF≥5000 hours (2) Operation model;

[0108] (2.1) Use case diagram:

[0109] The interaction between the internal and external aspects of the system for realizing the automatic target tracking mode of the turntable can be derived. The main use cases in the operation model in this embodiment are:

[0110] UC1: target tracking;

[0111] UC2: preset path scanning;

[0112] UC3: manual posture adjustment;

[0113] UC4: system calibration;

[0114] Taking system calibration as an example, the detailed description method is as follows:

[0115] Step 1: Identify participants;

[0116] Main actors: Maintenance engineers.

[0117] Secondary actors: Environmental sensors (temperature / vibration).

[0118] Step 2: Decompose sub-use cases:

[0119] 《include》relationship: sensor self-test, zero point calibration;

[0120] "extend" relationship: calibration failure alarm;

[0121] 《generalize》Relationship: automatic calibration vs. manual calibration.

[0122] Step 3: Draw the description:

[0123] [Maintenance Engineer] → [System Calibration] 《include》 → [Sensor Self-Test] 《include》 → [Zero Point Calibration] 《extend》 → [Calibration Failure Alarm] 《generalize》 → [Automatic Calibration] 《generalize》 → [Manual Calibration];

[0124] (2.2) Sequence diagram:

[0125] The following is a typical interaction process, taking the operator controlling the azimuth / pitch motion of the turntable as an example:

[0126] Operator → HMI → controller → motor drive → encoder feedback → data processing.

[0127] Step 1: The operator initiates an instruction.

[0128] The operator enters the target position (e.g., azimuth angle 30°) through the HMI interface. The message format is: moveTo(axis=AZ,angle=30,speed=20° / s).

[0129] Step 2: The controller processes the instruction.

[0130] Parse the command parameters and generate the motion curve (S-type acceleration and deceleration). The message format is: setPWM(channel=1,duty=75%);

[0131] Step 3: The motor starts rotating.

[0132] The driver converts the PWM signal into three-phase current. The message format is: motorRun(direction=CW,torque=80%);

[0133] Step 4: Closed-loop feedback adjustment.

[0134] The encoder sends position data every 1ms in the following message format: positionReport(az=29.8°,el=0°). The controller calculates the error: Δ=30°-29.8°=0.2° and adjusts the PWM output: adjustPWM(+5%).

[0135] (3) Functional model:

[0136] (3.1) Activity diagram:

[0137] From the subsystem white box perspective, the internal functional entity interaction is demonstrated. Taking the operator controlling the azimuth / pitch movement of the turntable as an example, the functional flow route is described as follows:

[0138] Instruction parsing → motion planning → PID calculation → PWM generation → position acquisition → error compensation.

[0139] Graphical depiction of Figure 2 shown.

[0140] (3.2) State machine diagram:

[0141] The state machine diagram is used to describe the logic of object state changes. The state machine diagram for controlling the azimuth / pitch motion of the turntable axis in automatic target tracking mode is described as follows:

[0142] [Idle] → Target detected → [Initialize tracking];

[0143] [Initialize tracking] → Parameter matching successful → [Continue tracking];

[0144] [Continue tracking] → target lost → [Search for target];

[0145] [Search target] → Recapture → [Continue tracking];

[0146] [Search target] → Timeout not captured → [Idle];

[0147] (4) Logical model:

[0148] (4.1) Block definition diagram:

[0149] The logic system of the two-dimensional photoelectric turntable system control is defined by the block definition diagram: it is divided into L1: motion control module; L2: communication interface module; L3: sensor processing module; L4: safety protection module.

[0150] (4.2) Internal block diagram:

[0151] The interfaces of each logic component are defined through internal block diagrams: such as controller → [CAN] → driver; encoder → [SSI] → FPGA.

[0152] (5) Physical model:

[0153] (5.1) Parameter diagram:

[0154] The parameter diagram is used to achieve physical performance constraints that meet system requirements: moment of inertia ≤ 0.2 kg·m²; resonant frequency ≥ 80 Hz; axial clearance < 1 arcmin. Taking the moment of inertia constraint as an example:

[0155] Step 1. Define the constraint block [moment of inertia constraint]:

[0156] Formula: J_total=Σ(m_i*r_i²);

[0157] Requirements: J_total ≤ 0.2 kg·m²;

[0158] Step 2. Add related parts and drag the component modules and properties involved in the calculation into the diagram:

[0159] Motor rotor (mass m1 = 0.5 kg, radius r1 = 0.05 m);

[0160] Load platform (mass m2 = 1.2 kg, radius r2 = 0.1 m);

[0161] Step 3: Bind parameters through connections.

[0162] Motor rotor.m1←[rotational inertia constraint].m_i→load platform.m2;

[0163] Motor rotor.r1←[rotational inertia constraint].r_i→load platform.r2;

[0164] Step 4: Display the verification results and mark the actual calculated values next to the constraint blocks:

[0165] J_total=(0.5*0.05²)+(1.2*0.1²)=0.01325kg·m² meets the requirements;

[0166] (5.2) Block definition diagram:

[0167] The specific physical architecture is decomposed through the block definition diagram. The naming of the stand-alone module is divided into three parts, which are connected by underscores in sequence: "Stand-alone type abbreviation_quantity_model_supplier:

[0168] A. Azimuth axis system:

[0169] Servo Motor_1_Kollmorgen_AKM54E_Kollmorgen;

[0170] Harmonic reducer_1_HDSI-20-100_Harmonic;

[0171] ABSOLUTEENCODER_1_RENISHAWRESOLUTE_Renishaw;

[0172] Crossed roller bearing_2_IKOCRBS20A_THK;

[0173] Slip ring assembly_1_MoflonMT0504-0500_Moflon;

[0174] Limit switch_2_OMROND4V-8100Z_Omron;

[0175] B. Pitch axis system:

[0176] Direct drive torque motor-1-ETELTMB+0380-090-ETEL;

[0177] High-precision bearings-1NSKP4 angular contact bearings-NSK;

[0178] Photoelectric encoder-1-HEIDENHAINECN113-Heidenhain;

[0179] Flexible coupling-1-R+WSKR50-R+W;

[0180] Temperature sensor-2-PT100ClassA-Omega;

[0181] C. Control System:

[0182] Motion controller-1-NIcRIO-9039-NI;

[0183] Servo Drive-2-ElmoGoldTwitter-Elmo;

[0184] Power module-1-TDK-LambdaSWS600L-24-TDK;

[0185] FPGA module-1XilinxKintex-7-Xilinx;

[0186] D. Optical components:

[0187] Visible light camera-1-FLIRBFS-PGE-50S5C-FLIR;

[0188] Infrared thermal imager - 1 - HIKMICROTM30 - Hikvision;

[0189] Laser rangefinder - 1 - LTITruPulse360R-LTI;

[0190] (6) Traceability and verification:

[0191] A bidirectional traceability chain can be established from requirements to physical components through the element traceability form, for example: fr008 ← F2 (position closed loop) ← L3 (encoder processing) ← P-B3 (HEIDENHAIN encoder). This prevents missed requirements and allows for rapid design response to changing requirements. Furthermore, design element changes can be quickly located at the stage, model, and instance, allowing parameter modification to avoid design errors caused by inconsistent element changes.

[0192] By designing the state observability of the control logic state machine diagram of the turntable system, embedding variables such as turntable angle, speed, and acceleration in the state machine, and conducting simulation verification at the state machine logic level, we can test defects such as variable anomalies and unmet indicators during the control process, thereby enabling early intervention and avoiding the introduction of problems into the subsequent turntable physical prototype design, thus reducing development costs. A closed loop is achieved from architecture design to simulation verification. The closed loop verification process is as follows: Figure 3 shown.

[0193] Based on the Model Based Systems Engineering (MBSE) theory, this paper takes a certain type of two-dimensional optoelectronic turntable as the research object, integrates the nine model expression methods of the SysML modeling language, and integrates the design requirements, elements, processes and indicators of the two-dimensional optoelectronic turntable into structured charts such as requirements, structures, behaviors, parameters, and traceability tables. It proposes a two-dimensional optoelectronic turntable system design, solution verification and optimization method with the model as the authoritative source and design-driven.

[0194] The main feature of the present invention is to use the nine structured views of SysML to describe the system under study in a model, replacing the traditional textual recording method, breaking down complex projects into operational modules, making the design elements clear and vivid, and the system structure, interface and function clearly expressed and defined. All models are digital assets for project management, transmitted and expressed along the preset development methodology route, standardizing the development process and improving the efficiency of project communication. The unified management of project resources makes them searchable, reusable and traceable. In addition, the SysML state machine model is converted into executable SVG simulation code according to the rules, and visualization means are introduced to simulate, evaluate and optimize the overall architecture design, intuitively displaying problems such as deadlock, conflict, variable anomalies, and information interaction errors in the turntable control logic. Defects can be discovered in the early stages of the two-dimensional optoelectronic turntable design, and rapid iterative corrections can be made to avoid problems from being brought into the subsequent development stages, thereby reducing development costs.

[0195] The present invention uses the SysML modeling language to build a model to describe the top-level system design scheme. SysML is a general-purpose graphical modeling language that supports a closed-loop development process of complex system description, design, analysis, verification and validation. It combines system engineering methods to comprehensively characterize the system, and the underlying semantics are well normalized and standardized, which can effectively abstract and integrate the various field characteristics of the system. The present invention verifies the rationality of the requirements and the correctness of the control logic by converting the state machine diagram in the SysML architecture model of the two-dimensional optoelectronic turntable into an executable simulation state machine code through mapping rules. In this way, the dynamic model in SysML can be quickly verified, and the correctness and rationality of the model control logic and the interaction of each module interface can be intuitively evaluated in a visual way, meeting the needs of system modeling and verification.

[0196] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0197] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. It should be pointed out that any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A two-dimensional optoelectronic turntable system architecture design optimization method, characterized in that: The following steps are involved: Step 1: Using the SysML modeling language and the ROFLP methodology, a domain semantic metamodel of the 2D optoelectronic turntable system is established. Based on this, multi-level, multi-disciplinary, and multi-system modeling is carried out, including requirements modeling, operation modeling, functional modeling, logical modeling, and physical modeling. The requirements modeling is as follows: extract the requirements of the optoelectronic turntable system, establish a SysML requirements form model, define the requirements of each level of the system, construct a requirements hierarchy tree, and clearly define the angular positioning accuracy ≤ 0.01° and the dynamic error of dual-axis synchronous control < 0.05°. The environmental adaptability requirement in the requirements modeling is -40°C to +70°C operation, and is linked to the temperature tolerance parameters of the physical components through the requirements traceability matrix; The operation modeling is as follows: the interaction between the internal and external systems of the turntable automatic target tracking mode is derived, the core scenarios of the optoelectronic turntable target tracking and overload protection system are defined through use case diagrams, and the interaction process between the system and the external environment is simulated using activity diagrams to ensure that the operation model covers all required scenarios such as normal operation and exception handling; Functional modeling is as follows: the requirements are converted into the basic functions of the system through the module definition diagram, and the instruction parsing, motion planning, and PID calculation function chains are refined through the activity diagram to describe the collaborative relationship between the functional modules within the system; The logic modeling is as follows: divide the motion control and communication interface subsystem modules, define the key interface protocol of CAN bus communication, use state machine diagrams to depict the interaction logic of the optical-mechanical-control multi-subsystem in cooperative tracking of targets with or without interference in typical operating scenarios, and convert the state machine diagrams into executable state machine simulation code; Physical modeling is as follows: Based on the mapping relationship of logical components, a multi-level system model accurate to the part level is constructed, including the construction of the physical decomposition structure of the azimuth axis system and the pitch axis system, the generation of a BOM table containing the integrated information of the optical load, and the realization of two-way traceability between the requirement items and the physical components through the element traceability form; Step 2: Based on the interaction model of the optical-mechanical-control multi-subsystem with / without interference collaborative tracking of the target in typical operating scenarios established by the above-mentioned state machine, the SysML model is converted into executable state machine simulation code and indicator verification script through mapping rules. The state machine simulation code supports 3D visual simulation, intuitively displays the system state triggering and switching logic, and can support the dynamic display of the turntable's internal mechanical / optical / control systems, subsystems, components, and the interaction process between the internal system and external conditions, so as to discover multi-domain conflicts in advance; Step 3: Establish a two-way traceability chain from requirements to physical components through the element traceability form. Use state machine simulation and indicator verification to verify the system's dynamic behavior and static indicators. Based on the satisfiability model theory, formulate constraints and satisfaction analysis for the core parameters of shaft system clearance and motor output torque. Use parameter diagrams to associate parameters in mechanical, optical, control and other fields, quantify cross-domain constraints, and avoid performance conflicts caused by isolated designs. At the same time, the equations constructed in the parameter diagrams verify the feasibility of physical component configurations, reduce the iteration cost of physical prototypes, and optimize the system architecture design.

2. The method for optimizing the architecture design of a two-dimensional optoelectronic turntable system according to claim 1, characterized in that: The logic modeling includes dividing the system into subsystem modules, defining key interface protocols, depicting the system's state transition logic through state machine diagrams, and converting the state machine diagrams into executable state machine simulation codes for dynamic behavior verification.

3. The method for designing and optimizing a two-dimensional optoelectronic turntable system architecture according to claim 1, wherein: The state machine simulation code verifies the feasibility of the system's state triggering and switching logic design through 3D visual simulation.

4. The method for optimizing the architecture design of a two-dimensional optoelectronic turntable system according to claim 1, wherein: The indicator verification script is based on the satisfiability module theory, which performs formal constraints and satisfaction analysis on the core parameters of the system to verify the rationality of the indicators of the system design.

5. The method for optimizing the architecture design of a two-dimensional optoelectronic turntable system according to claim 1, characterized in that: The operation modeling describes the target loss and recapture scenario through an activity diagram, including the state transition logic of the sector scanning and disturbance compensation sub-processes; In logic modeling, the state machine diagram is embedded with the real-time variables of turntable angle and speed, and 3D visual simulation is used to verify deadlock and conflict anomalies in the control logic. The indicator verification script supports multi-physics field coupling verification, including analysis of the impact of mechanical vibration on optical imaging accuracy.

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